Hi @odedezra,
Good to hear - the functionality has been available since 2019, so I’d hope it was pretty stable by now 
Companion already sends DISTANCE_SENSOR messages (to QGC via the autopilot) as a fallback if Ping Viewer is not connected (handled here, in the pingmav service). BlueOS unfortunately does not yet have that implemented.
On the altitude hold front, that’s discussed a bit in these posts: